Predictive computed-torque control of a PUMA 560 manipulator robot

Victor M. Becerra, Steven Cook, Jiamei Deng

    Research output: Chapter in Book/Report/Conference proceedingOther chapter contribution


    This paper describes the integration of constrained predictive control and computed-torque control, and its application on a six degree-of-freedom PUMA 560 manipulator arm. The real-time implementation was based on SIMULINK, with the predictive controller and the computed-torque control law implemented in the C programming language. The constrained predictive controller solved a quadratic programming problem at every sampling interval, which was as short as 10 ms, using a prediction horizon of 150 steps and an 18th order state space model.
    Original languageEnglish
    Title of host publicationProceedings of the 16th IFAC World Congress
    EditorsPavel Piztek
    Publication statusPublished - 1 Jun 2006

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